zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Official

Do NOT modify!

Dependencies:   mbed Servo ServoArm

Fork of PES_Yanick by zhaw_st16b_pes2_10

Sources/main.cpp@7:6fed0dcae9c1, 2017-05-02 (annotated)

Committer:
EpicG10
Date:
Tue May 02 08:00:19 2017 +0000
Revision:
7:6fed0dcae9c1
Parent:
6:ba26dd3251b3
Child:
10:f76476943a6c
u

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beacon 0:d267b248eff4 1 #include "mbed.h"
beacon 0:d267b248eff4 2 #include "Robot.h"
beacon 4:67d7177c213f 3 #include "Declarations.h"
beacon 0:d267b248eff4 4
beacon 0:d267b248eff4 5 #include <cstdlib>
beacon 0:d267b248eff4 6
beacon 4:67d7177c213f 7 //DistanceSensors related bottom:
beacon 0:d267b248eff4 8 Serial pc(SERIAL_TX, SERIAL_RX);
beacon 0:d267b248eff4 9
beacon 0:d267b248eff4 10 AnalogIn sensorVoltage(PB_1);
beacon 0:d267b248eff4 11 DigitalOut enable(PC_1);
beacon 0:d267b248eff4 12 DigitalOut bit0(PH_1);
beacon 0:d267b248eff4 13 DigitalOut bit1(PC_2);
beacon 0:d267b248eff4 14 DigitalOut bit2(PC_3);
beacon 1:388c915756f5 15
beacon 4:67d7177c213f 16 //DistanceSensors top:
beacon 4:67d7177c213f 17 AnalogIn frontS(A1);
beacon 4:67d7177c213f 18 AnalogIn leftS(A2);
beacon 4:67d7177c213f 19 AnalogIn rightS(A3);
beacon 4:67d7177c213f 20
beacon 1:388c915756f5 21 //Leds related:
beacon 1:388c915756f5 22 DigitalOut leds[6] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
beacon 0:d267b248eff4 23
beacon 1:388c915756f5 24 //motor related:
beacon 1:388c915756f5 25 PwmOut left(PA_8);
beacon 1:388c915756f5 26 PwmOut right(PA_9);
beacon 0:d267b248eff4 27
beacon 1:388c915756f5 28 DigitalOut powerSignal(PB_2);
beacon 1:388c915756f5 29 DigitalIn errorSignal(PB_14);
beacon 1:388c915756f5 30 DigitalIn overtemperatur(PB_15);
beacon 1:388c915756f5 31
beacon 4:67d7177c213f 32 //Arm:
beacon 6:ba26dd3251b3 33 Servo servoArm(PA_6);
beacon 4:67d7177c213f 34
beacon 1:388c915756f5 35 //Farbsensor:
beacon 1:388c915756f5 36 AnalogIn FarbVoltage(A0);
beacon 1:388c915756f5 37
beacon 6:ba26dd3251b3 38 Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS, &servoArm); //Implement the Farbsensor into the Robot init function!!
beacon 1:388c915756f5 39
beacon 0:d267b248eff4 40
beacon 0:d267b248eff4 41
beacon 6:ba26dd3251b3 42 /* * /
beacon 1:388c915756f5 43 int main(){
beacon 4:67d7177c213f 44 initializeDistanceSensors(); //Initialises IR-Sensors.
beacon 4:67d7177c213f 45 int counter = 0; //Counts how many times the robot has turned, before driving
beacon 4:67d7177c213f 46 int timer = 0; //Is used, to reset the robot. Returns time in [0.1s]
beacon 4:67d7177c213f 47 //int lastFun = -1; //Is used, to check if the same action in Robot::search() was made multiple times.
beacon 4:67d7177c213f 48 int found = 0; //0:= no block available, 1 := a lego is ready to be picked up
beacon 0:d267b248eff4 49
beacon 4:67d7177c213f 50 while( 1 ){
beacon 4:67d7177c213f 51 if ( timer > TIMEOUT ){
beacon 4:67d7177c213f 52 NVIC_SystemReset(); //Resets Sam.
beacon 4:67d7177c213f 53 }
beacon 4:67d7177c213f 54 else if (found == 0){
beacon 4:67d7177c213f 55 sam.search(&counter, &timer, &found);
beacon 4:67d7177c213f 56 }
beacon 4:67d7177c213f 57 else{
beacon 4:67d7177c213f 58 //pick up lego
beacon 4:67d7177c213f 59 //found = 0;
beacon 5:1aaf5de776ff 60 sam.stop(); //Nur zum Testen
beacon 4:67d7177c213f 61 }
beacon 1:388c915756f5 62
beacon 1:388c915756f5 63 wait( 0.1f );
beacon 0:d267b248eff4 64 }
beacon 0:d267b248eff4 65 return 0;
beacon 4:67d7177c213f 66 }
beacon 4:67d7177c213f 67
beacon 4:67d7177c213f 68 /* * /
beacon 4:67d7177c213f 69 int main(){
beacon 4:67d7177c213f 70
beacon 4:67d7177c213f 71 initializeDistanceSensors();
beacon 4:67d7177c213f 72 sam.stop();
beacon 4:67d7177c213f 73
beacon 4:67d7177c213f 74 while ( 1 ){
beacon 4:67d7177c213f 75 for (int i=0; i<6; i++){
beacon 4:67d7177c213f 76 sam.sensors[i] < NEAR ? sam.leds[i] = 1 : sam.leds[i] = 0;
beacon 4:67d7177c213f 77 }
beacon 4:67d7177c213f 78
beacon 4:67d7177c213f 79 sam.turnLeftS();
beacon 4:67d7177c213f 80
beacon 4:67d7177c213f 81 while (sam.sensors[FWD] < NEAR){
beacon 4:67d7177c213f 82 wait(0.05f);
beacon 4:67d7177c213f 83 sam.stop();
beacon 4:67d7177c213f 84 }
beacon 4:67d7177c213f 85
beacon 4:67d7177c213f 86 }
beacon 4:67d7177c213f 87 return 0;
beacon 4:67d7177c213f 88 }
beacon 4:67d7177c213f 89 /* */
beacon 4:67d7177c213f 90
beacon 4:67d7177c213f 91 /* * /
beacon 4:67d7177c213f 92 int main(){
beacon 4:67d7177c213f 93 for(float p=0; p<1.0; p += 0.1) {
beacon 4:67d7177c213f 94 // arm = p;
beacon 4:67d7177c213f 95 wait(0.2);
beacon 4:67d7177c213f 96 }
beacon 4:67d7177c213f 97 }
beacon 6:ba26dd3251b3 98 /* */
beacon 6:ba26dd3251b3 99
beacon 6:ba26dd3251b3 100 /* */
beacon 6:ba26dd3251b3 101 int main(){
beacon 6:ba26dd3251b3 102 sam.stop();
beacon 6:ba26dd3251b3 103 int done = 0; //1:= finished process; 0:= not finished
beacon 6:ba26dd3251b3 104 int fun = 0; //just to test.
EpicG10 7:6fed0dcae9c1 105 int start = 0;
EpicG10 7:6fed0dcae9c1 106
EpicG10 7:6fed0dcae9c1 107
beacon 6:ba26dd3251b3 108 while(1){
beacon 6:ba26dd3251b3 109 if(fun == 0){
beacon 6:ba26dd3251b3 110 done = 0;
beacon 6:ba26dd3251b3 111 sam.Arm.collecttoback(&done);
EpicG10 7:6fed0dcae9c1 112 done == 0 ? fun = 0 : fun = 1;
beacon 6:ba26dd3251b3 113 }
beacon 6:ba26dd3251b3 114 else if(fun == 1){
beacon 6:ba26dd3251b3 115 done = 0;
beacon 6:ba26dd3251b3 116 sam.Arm.backtocollect(&done);
beacon 6:ba26dd3251b3 117 done == 0 ? fun = 1 : fun = 2;
beacon 6:ba26dd3251b3 118 }
beacon 6:ba26dd3251b3 119 else if(fun == 2){
beacon 6:ba26dd3251b3 120 done = 0;
beacon 6:ba26dd3251b3 121 sam.Arm.collecttodown(&done);
beacon 6:ba26dd3251b3 122 done == 0 ? fun = 2 : fun = 3;
beacon 6:ba26dd3251b3 123 }
beacon 6:ba26dd3251b3 124 else if(fun == 3){
beacon 6:ba26dd3251b3 125 done = 0;
beacon 6:ba26dd3251b3 126 sam.Arm.downtocollect(&done);
beacon 6:ba26dd3251b3 127 done == 0 ? fun = 3 : fun = 0;
beacon 6:ba26dd3251b3 128 }
beacon 6:ba26dd3251b3 129 wait(0.1);
beacon 6:ba26dd3251b3 130 }
beacon 6:ba26dd3251b3 131 }